局部皮肤血循环差（大剂量放射治疗后，反复多次手术局部瘢痕重） ，伤口感染软骨坏死排出，T形管损伤黏膜形成新的瘢痕狭窄和瘢痕体质。
The factors of failure were disturbance of local blood circulation, wound infection followed rib necrosis, T-tube injured mucomembrane then became a new stenosis, and restenosis for scar constitution.
第四章针对第三章提出算法的缺点，排出不确定传感器信息的影响，试验一种随机规划与局部路径规划相结合的混合路径规划方法。
Chapter 4, according to the shortage of the algorithm provided in the chapter 3 and removing the influence of unsureness sensors information, a feasible mixed approach of path planning is discussed.
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